GMapping Odometry Question

Question

Hello, I am running GMapping and visualizing the map in Rviz. My fixed frame is set to /map. I am driving the robot around manually and am generating a fairly accurate map. My problem is that the link from odom to base_link seems to be moving in the opposite direction. Base_link remains fixed where at the origin like I expect, but odom moves the opposite direction of the robot. My /odom ends up being no where near where the map is being generated, but the map still looks fine. My /odom is publishing that it is at X=3.28, Y=0.44, theta=-11.128 degrees. However, when I look at its position in RViz for the odom frame, I get X=-0.61441, Y=-0.22086.

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Originally posted by tyleroar on ROS Answers with karma: 1 on 2011-04-20

Post score: 0

Answer 1

REP 105 does a good job of explaining how the various mapping frames interact.

In short, what you're seeing there is what's expected; /odom is the uncorrected odometric information, and will not only be wrong, but will be arbitrarily wrong, given enough time.

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Originally posted by Mac with karma: 4119 on 2011-04-21

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by sam on 2012-02-19:
Is /odom should move away from /map when gmapping building a map and robot moving? Thank you~